Downsizing an orbital space robot: A dynamic system based evaluation
Abstract
Small space robots have the potential to revolutionise space exploration by facilitating the on-orbit assembly of infrastructure, in shorter time scales, at reduced costs. Their commercial appeal will be further improved if such a system is also capable of performing on-orbit servicing missions, in line with the current drive to limit space debris and prolong the lifetime of satellites already in orbit. Whilst there have been a limited number of successful demonstrations of technologies capable of these on-orbit operations, the systems remain large and bespoke. The recent surge in small satellite technologies is changing the economics of space and in the near future, downsizing a space robot might become be a viable option with a host of benefits. This industry wide shift means some of the technologies for use with a downsized space robot, such as power and communication subsystems, now exist. However, there are still dynamic and control issues that need to be overcome before a downsized space robot can be capable of undertaking useful missions. This paper first outlines these issues, before analyzing the effect of downsizing a system on its operational capability. Therefore presenting the smallest controllable system such that the benefits of a small space robot can be achieved with current technologies. The sizing of the base spacecraft and manipulator are addressed here. The design presented consists of a 3 link, 6 degrees of freedom robotic manipulator mounted on a 12U form factor satellite. The feasibility of this 12U space robot was evaluated in simulation and the in-depth results presented here support the hypothesis that a small space robot is a viable solution for in-orbit operations.
- Publication:
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Advances in Space Research
- Pub Date:
- May 2020
- DOI:
- 10.1016/j.asr.2020.03.004
- Bibcode:
- 2020AdSpR..65.2247J
- Keywords:
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- Small satellite;
- Space robot;
- In-orbit assembly and servicing;
- In-orbit operations;
- Free-flying;
- Free-floating